#pragma once

#include <tinympc/types.hpp>

tinytype rho_value = 5.0;

tinytype Adyn_data[NSTATES * NSTATES] = {
    1.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0245250, 0.0000000, 0.0500000, 0.0000000, 0.0000000, 0.0000000, 0.0002044, 0.0000000,
    0.0000000, 1.0000000, 0.0000000, -0.0245250, 0.0000000, 0.0000000, 0.0000000, 0.0500000, 0.0000000, -0.0002044, 0.0000000, 0.0000000,
    0.0000000, 0.0000000, 1.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0500000, 0.0000000, 0.0000000, 0.0000000,
    0.0000000, 0.0000000, 0.0000000, 1.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0250000, 0.0000000, 0.0000000,
    0.0000000, 0.0000000, 0.0000000, 0.0000000, 1.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0250000, 0.0000000,
    0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 1.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0250000,
    0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.9810000, 0.0000000, 1.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0122625, 0.0000000,
    0.0000000, 0.0000000, 0.0000000, -0.9810000, 0.0000000, 0.0000000, 0.0000000, 1.0000000, 0.0000000, -0.0122625, 0.0000000, 0.0000000,
    0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 1.0000000, 0.0000000, 0.0000000, 0.0000000,
    0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 1.0000000, 0.0000000, 0.0000000,
    0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 1.0000000, 0.0000000,
    0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 1.0000000};

tinytype Bdyn_data[NSTATES * NINPUTS] = {
    -0.0007069, 0.0007773, 0.0007091, -0.0007795,
    0.0007034, 0.0007747, -0.0007042, -0.0007739,
    0.0052554, 0.0052554, 0.0052554, 0.0052554,
    -0.1720966, -0.1895213, 0.1722891, 0.1893288,
    -0.1729419, 0.1901740, 0.1734809, -0.1907131,
    0.0123423, -0.0045148, -0.0174024, 0.0095748,
    -0.0565520, 0.0621869, 0.0567283, -0.0623632,
    0.0562756, 0.0619735, -0.0563386, -0.0619105,
    0.2102143, 0.2102143, 0.2102143, 0.2102143,
    -13.7677303, -15.1617018, 13.7831318, 15.1463003,
    -13.8353509, 15.2139209, 13.8784751, -15.2570451,
    0.9873856, -0.3611820, -1.3921880, 0.7659845};

tinytype Q_data[NSTATES] = {100.0000000, 100.0000000, 100.0000000, 4.0000000, 4.0000000, 400.0000000, 4.0000000, 4.0000000, 4.0000000, 2.0408163, 2.0408163, 4.0000000};

tinytype R_data[NINPUTS] = {4.0000000, 4.0000000, 4.0000000, 4.0000000};
